Practice-Code/Motor+Encoder at master · SOR-FRCTeam6059/Practice-Code · GitHub

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#include <frc/Encoder.h>
#include <frc/Joystick.h>
#include <frc/PWMVictorSPX.h>
#include <frc/TimedRobot.h>
#include <frc/smartdashboard/SmartDashboard.h>

constexpr double senPi = 3.14159265358979;


class Robot : public frc::TimedRobot {
 public:

  void TeleopPeriodic() override { m_m0a.Set(Control.GetRawAxis(1)); }
  void TeleopPeriodic() override { m_m0b.Set(Control.GetRawAxis(1)); }
  void TeleopPeriodic() override { m_m1a.Set(Control.GetRawAxis(1)); }
  void TeleopPeriodic() override { m_m1b.Set(Control.GetRawAxis(1)); }

  void RobotPeriodic() override {
    frc::SmartDashboard::PutNumber("Encoder 0", DriveEncoder0.GetDistance());
    frc::SmartDashboard::PutNumber("Encoder 1", m_encoder1.GetDistance());
  }

  void RobotInit() override {
    DriveEncoder0.SetDistancePerPulse((senPi * 6) / 360.0);
    DriveEncoder1.SetDistancePerPulse((senPi * 6) / 360.0);
  }

 private:
  frc::Joystick Control{0};
  frc::CANTalonSRX m_m0a{CAN};
  frc::CANVictorSPX m_m0b{CAN};
  frc::CANTalonSRX m_m1a{CAN};
  frc::CANVictorSPX m_m1b{CAN};
  frc::Encoder DriveEncoder0{CAN_0};
  frc::Encoder DriveEncoder1{CAN_1};

};